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So the first error I see is that you do not load the joint_state_controller in the controller_spawner node.

ackerman.launch:

line: 13

<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" 
   output="screen" ns="/basic_frame_pig" args="joint_state_controller 
                                               front_left_wheel_controller"/>

So the first error I see is that you do not load the joint_state_controller in the controller_spawner node.

ackerman.launch:

line: 13

<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" 
   output="screen" ns="/basic_frame_pig" args="joint_state_controller 
                                               front_left_wheel_controller"/>

After that the namespaces might be little challenging so if this isn't enough to make it work, I would look into the namespaces.